version: 66.11
glider: 121
mission: 10
dive: 122
start: 3 17 113 22 0 7
data:
$ID,121
$MISSION,10
$DIVE,122
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,350
$D_ABORT,500
$D_NO_BLEED,200
$D_BOOST,0
$T_BOOST,5
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,126
$T_MISSION,150
$T_ABORT,180
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-4
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,175
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51800
$NAV_MODE,2
$FERRY_MAX,40
$KALMAN_USE,2
$HD_A,0.0056599998
$HD_B,0.0135
$HD_C,6.2300001e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,47.599998
$TGT_DEFAULT_LON,-122.3
$TGT_AUTO_DEFAULT,0
$SM_CC,560
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,2
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,10
$CALL_WAIT,5
$CAPUPLOAD,0
$CAPMAXSIZE,50000
$HEAPDBG,0
$T_GPS,30
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-100647.88
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,100
$PITCH_MAX,4069
$C_PITCH,2365
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,20
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,145
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,526
$ROLL_MAX,3878
$ROLL_DEG,40
$C_ROLL_DIVE,1975
$C_ROLL_CLIMB,2300
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,50
$R_STBD_OVSHOOT,58
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,400
$VBD_MAX,3600
$C_VBD,2795
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0024999999
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,0
$AH0_24V,150
$AH0_10V,100
$MINV_24V,22
$MINV_10V,9.5
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-34.938694
$PRESSURE_SLOPE,9.0818496e-05
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,0
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,2.3
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,53
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0.090000004
$SIM_PITCH,0
$SEABIRD_T_G,0.0042823856
$SEABIRD_T_H,0.00062054652
$SEABIRD_T_I,2.2746239e-05
$SEABIRD_T_J,2.4072633e-06
$SEABIRD_C_G,-9.8275757
$SEABIRD_C_H,1.1041691
$SEABIRD_C_I,-0.0015209455
$SEABIRD_C_J,0.00020302966
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$GPS1,170313,215304,1910.422,12008.531,381,1.1,381,-2.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-23.93
$_SM_ANGLEo,-66.0
$GPS2,170313,215941,1910.392,12008.522,15,1.2,15,-2.5
$SPEED_LIMITS,0.160,0.240
$TGT_NAME,W2A
$TGT_LATLONG,2145.000,12000.000
$TGT_RADIUS,4000.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,334.6,286709,-18.5,-9.259,-21.12,2828
$D_GRID,2865
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,pitch_ad_start,roll_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,vbd_pot1_ad,vbd_pot2_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-1.35,-170.3,86,1950,463,550,0.0,0.0,0,44,0.00,0.00,-23.90,0.000,16386,0.000,0.000,86,1950,1132,1113,1152,0,0,0,0,0,0,28.83,28.83,28.83
$GC,46,-1.35,-170.3,86,1951,1113,1154,3.1,-9.2,3,161,8.05,2.17,-93.07,0.000,18948,0.231,0.054,2076,584,3492,3406,3579,0,0,0,0,0,0,25.84,26.17,26.46
$GC,254,-1.35,-170.3,1232,583,3390,3577,22.0,-8.7,35,262,0.00,2.05,0.00,0.000,1030,0.000,0.015,2067,1989,3493,3408,3579,0,0,0,0,0,0,28.83,26.32,28.83
$GC,573,-1.35,-170.3,2067,1991,3414,3580,50.4,-9.0,69,580,0.00,2.03,0.00,0.000,260,0.000,0.031,2057,3359,3495,3412,3579,0,0,0,0,0,0,28.83,26.43,28.83
$GC,643,-1.35,-170.3,2057,3359,3413,3579,56.5,-9.1,72,649,0.00,2.05,0.00,0.000,1030,0.000,0.022,2063,1975,3496,3413,3580,0,0,0,0,0,0,28.83,26.48,28.83
$GC,963,-1.35,-170.3,2063,1975,3416,3580,85.8,-9.2,88,964,0.00,0.00,0.00,0.000,6,0.000,0.000,2063,1975,3498,3416,3580,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1264,-1.35,-170.3,2063,1975,3415,3580,113.1,-9.2,103,1270,0.00,2.12,0.00,0.000,516,0.000,0.039,2073,567,3497,3415,3580,0,0,0,0,0,0,28.83,26.58,28.83
$GC,1392,-1.35,-170.3,1248,566,3399,3578,124.8,-9.2,109,1398,0.00,2.05,0.00,0.000,1030,0.000,0.015,2065,1990,3497,3415,3580,0,0,0,0,0,0,28.83,26.65,28.83
$GC,1718,-1.35,-170.3,2065,1991,3415,3580,153.9,-9.1,125,1724,0.00,2.03,0.00,0.000,260,0.000,0.031,2055,3362,3497,3415,3580,0,0,0,0,0,0,28.83,26.63,28.83
$GC,1769,-1.35,-170.3,2054,3362,3415,3580,158.2,-9.2,127,1775,0.00,2.05,0.00,0.000,1030,0.000,0.023,2057,1975,3497,3414,3580,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2089,-1.35,-170.3,2057,1975,3416,3577,187.4,-9.1,143,2095,0.00,2.12,0.00,0.000,516,0.000,0.041,2066,570,3496,3416,3577,0,0,0,0,0,0,28.83,26.64,28.83
$GC,2304,-1.35,-170.3,1264,569,3400,3573,206.5,-9.1,153,2310,0.00,2.03,0.00,0.000,1030,0.000,0.016,2057,1979,3495,3415,3575,0,0,0,0,0,0,28.83,26.72,28.83
$GC,2623,-1.35,-170.3,2057,1980,3415,3572,235.3,-8.9,169,2624,0.00,0.00,0.00,0.000,6,0.000,0.000,2058,1980,3493,3415,3572,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2924,-1.35,-170.3,2057,1980,3414,3569,262.5,-9.0,184,2930,0.00,2.15,0.00,0.000,516,0.000,0.039,2065,578,3491,3414,3568,0,0,0,0,0,0,28.83,26.67,28.83
$GC,3010,-1.35,-170.3,2064,578,3413,3568,270.2,-9.0,188,3016,0.00,2.03,0.00,0.000,1030,0.000,0.016,2056,1979,3490,3413,3568,0,0,0,0,0,0,28.83,26.73,28.83
$GC,3337,-1.35,-170.3,2056,1980,3411,3565,299.6,-9.3,204,3343,0.00,2.17,0.00,0.000,516,0.000,0.041,2064,571,3488,3411,3565,0,0,0,0,0,0,28.83,26.67,28.83
$GC,3404,-1.35,-170.3,2064,571,3410,3565,306.0,-9.2,207,3410,0.00,2.03,0.00,0.000,1030,0.000,0.016,2056,1972,3487,3410,3565,0,0,0,0,0,0,28.83,26.74,28.83
$GC,3731,-1.35,-170.3,2055,1972,3408,3562,334.9,-9.1,223,3732,0.00,0.00,0.00,0.000,6,0.000,0.000,2055,1972,3485,3409,3562,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,3907,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3907,begin apogee
$GC,3912,-0.25,0.0,2053,2313,3407,3561,351.1,-9.1,232,4057,0.80,0.00,140.10,0.884,10246,0.123,0.000,2314,2314,2793,2754,2833,0,0,0,0,0,0,26.53,28.83,24.49
$STATE,4059,end apogee,CONTROL_FINISHED_OK
$STATE,4059,begin climb
$GC,4061,1.35,170.3,2313,2313,2752,2828,339.0,0.0,238,4217,1.00,2.25,143.68,0.877,10500,0.069,0.034,2661,3683,2092,2057,2128,0,0,0,0,0,0,25.23,25.00,24.31
$GC,4293,1.37,177.1,2661,3682,2054,2120,318.1,9.0,248,4303,0.00,2.15,3.62,0.585,9222,0.000,0.023,2671,2301,2073,2038,2109,0,0,0,0,0,0,28.83,25.60,24.68
$GC,4598,1.40,189.2,2670,2301,2037,2109,289.2,8.8,264,4619,0.00,0.00,14.32,0.817,8198,0.000,0.000,2671,2301,2017,1981,2053,0,0,0,0,0,0,28.83,28.83,25.18
$GC,4919,1.42,195.9,2670,2301,1980,2046,260.3,9.0,280,4931,0.00,2.20,4.65,0.707,8452,0.000,0.032,2671,3683,1995,1960,2031,0,0,0,0,0,0,28.83,26.21,25.20
$GC,4981,1.44,204.9,2670,3683,1960,2031,256.1,8.9,282,4999,0.00,2.10,11.77,0.803,9222,0.000,0.024,2680,2300,1954,1919,1989,0,0,0,0,0,0,28.83,26.27,25.31
$GC,5314,1.44,205.4,2680,2299,1918,1981,224.6,9.2,299,5320,0.00,2.17,0.00,0.000,516,0.000,0.041,2691,896,1949,1918,1981,0,0,0,0,0,0,28.83,26.32,28.83
$GC,5411,1.45,210.6,2691,896,1917,1981,216.7,9.1,303,5424,0.00,2.08,4.20,0.662,9222,0.000,0.017,2691,2294,1934,1901,1968,0,0,0,0,0,0,28.83,26.44,25.30
$GC,5721,1.48,219.5,2691,2295,1901,1966,187.7,8.9,319,5737,0.00,2.20,10.40,0.767,8452,0.000,0.034,2691,3692,1896,1867,1925,0,0,0,0,0,0,28.83,26.28,25.53
$GC,5966,1.49,224.8,2691,3693,1866,1918,166.9,9.1,330,5976,0.00,2.10,4.38,0.659,9222,0.000,0.024,2701,2301,1877,1851,1904,0,0,0,0,0,0,28.83,26.42,25.35
$GC,6273,1.52,237.9,2701,2301,1851,1904,138.0,8.8,346,6294,0.00,0.00,15.05,0.737,8198,0.000,0.000,2702,2301,1821,1794,1849,0,0,0,0,0,0,28.83,28.83,25.53
$GC,6593,1.59,264.5,2701,2301,1793,1842,109.5,8.3,362,6627,0.00,2.22,25.80,0.720,8708,0.000,0.044,2712,897,1711,1678,1745,0,0,0,0,0,0,28.83,26.01,25.37
$GC,6655,1.65,287.6,2712,897,1677,1742,105.3,8.4,364,6687,0.00,2.10,22.12,0.717,9222,0.000,0.018,2712,2302,1616,1569,1663,0,0,0,0,0,0,28.83,26.15,25.15
$GC,6983,1.68,300.1,2711,2302,1564,1657,74.8,8.8,381,7000,0.00,2.33,11.68,0.696,8708,0.000,0.041,2721,896,1567,1515,1619,0,0,0,0,0,0,28.83,26.06,25.40
$GC,7043,1.71,313.0,2721,896,1514,1615,70.5,8.8,383,7062,0.00,2.10,13.02,0.689,9222,0.000,0.018,2721,2300,1516,1463,1569,0,0,0,0,0,0,28.83,26.19,25.30
$GC,7366,1.74,324.2,2721,2300,1461,1560,40.3,8.8,404,7389,0.10,2.33,11.27,0.663,10756,0.106,0.043,2773,882,1467,1417,1518,0,0,0,0,0,0,26.32,26.11,25.46
$GC,7397,1.78,342.9,2773,882,1417,1518,38.4,8.6,406,7423,0.00,2.12,18.95,0.656,9222,0.000,0.018,2773,2304,1392,1350,1435,0,0,0,0,0,0,28.83,26.21,25.29
$GC,7742,1.78,342.9,1736,2301,1326,1420,6.5,9.6,457,7751,0.00,2.12,0.00,0.000,260,0.000,0.035,2773,3688,1387,1350,1424,0,0,0,0,0,0,28.83,26.29,28.83
$STATE,7784,end climb,SURFACE_DEPTH_REACHED
$STATE,7784,begin surface coast
$FINISH,0.0,1.026072
$STATE,7819,end surface coast,CONTROL_FINISHED_OK
$STATE,7819,begin surface
$SM_CCo,7838,176.48,0.797,1,0,512,560.02
$SM_GC,-23.93,7.80,2.70,176.48,0.089,0.030,0.797,80,1978,512,-10.39,1.24,560.02,0,0,0,0,1,0,26.34,26.34,24.42
$IRIDIUM_FIX,1902.38,12009.31,170313,191909
$TT8_MAMPS,0.024717,0.024717
$HUMID,48.81
$INTERNAL_PRESSURE,9.04831
$TCM_TEMP,18.10
$XPDR_PINGS,0
$SC_FREEKB,3976192
$24V_AH,24.3,21.716
$10V_AH,10.1,13.198
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,17.750,64.800,455.025,176.475,0.000,0.000,0.000,235.825,0.000,0.000,16.350,1836.751,4061.048,739.867,1489.866,271.913,0.000,1737.030,0.000,1238.938,0.000,1.483,0.000
$DEVICE_MAMPS,231.030,54.315,883.575,797.130,0.000,0.000,0.000,135.405,420.000,0.000,29.960,14.460,2.190,14.460,39.180,46.670,0.000,15.500,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,7829.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.262,0.000,0.000,0.000
$MEM,323908
$DATA_FILE_SIZE,16786,470
$CAP_FILE_SIZE,382498,1894
$CFSIZE,260034560,236666880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$CURRENT,0.061,254.3,1
$GPS,180313,002126,1910.955,12007.746,421,0.8,421,-2.5